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Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models

R. Gaino, M.R. Covacic, M.C.M. Teixeira, R. Cardim, E. Assunção, A.A. de Carvalho, M.A.A. Sanches
2017 Fuzzy sets and systems (Print)  
This paper presents the design and simulation results considering the use of functional electrical stimulation to control the leg position of paraplegic patients.  ...  The plant is described by a nonlinear system using Takagi-Sugeno fuzzy models and a closed-loop control is presented.  ...  Acknowledgements The authors gratefully acknowledge the financial support by FAPESP, CNPq, CAPES and Fundação Araucária, from Brazil and would like to thank the Editors and Reviewers for their valuable  ... 
doi:10.1016/j.fss.2016.06.005 fatcat:udmaqmr2pbbipnma7msq5eelqq

ANFIS-PID Control FES-Supported Sit-to-Stand in Paraplegics: (Simulation Study)

Rufaida Hussain, Rasha Massoud, Moustafa Al-Mawaldi
2014 Journal of Biomedical Science and Engineering  
The developed ANFIS works as an inverse model to the system (functional electrical stimulation (FES)-induced quadriceps-lower leg system), while there is a proportional-integral-derivative (PID) controller  ...  Adaptive Neuro-fuzzy Inference System (ANFIS) controller was designed to control knee joint during sit to stand movement through electrical stimuli to quadriceps muscles.  ...  Model of the Paraplegic Paraplegic model is essential for design FES controllers. A model for a patient height 1.80 m and weight 75.35 Kg was built.  ... 
doi:10.4236/jbise.2014.74024 fatcat:3h5psh2ihncrzfmpl3lckht23a

Discrete Takagi-Sugeno Fuzzy Models Applied to Control the Knee Joint Movement of Paraplegic Patients

Ruberlei Gaino, Marcio R. Covacic, Rodrigo Cardim, Marcelo A. A. Sanches, Aparecido A. De Carvalho, Anderson R. Biazeto, Marcelo C. M. Teixeira
2020 IEEE Access  
In [4] , [5] , and [6] , function electrical stimulation and continuous-time T-S fuzzy models were for the first time used to study and simulate the control of leg position for a paraplegic patient  ...  In Theorem 1, the validity of the discretization methodology with T-S fuzzy models to design discrete-time controllers for the rehabilitation of paraplegic patients using electrical stimulation is shown  ... 
doi:10.1109/access.2020.2971908 fatcat:lzgzm2ohi5h5djwz4dac3fycui

Application of Nonlinear Model Predictive Controller for Fes-Assisted Standing Up in Paraplegia

R.M. Esfanjani, F. Towhidkhah
2005 2005 IEEE Engineering in Medicine and Biology 27th Annual Conference  
The Proposed controller shows good tracking behavior for ankle, knee and hip joint angles in simulated paraplegic standing up and improves patient safety because of considering constraints in control.  ...  In this work, the theoretical possibility of FES assisted standing up in paraplegic patient is studied using Nonlinear Model Predictive Control approach by computer simulation.  ...  In this work, using nonlinear model predictive control FES controller was developed for paraplegic standing up.  ... 
doi:10.1109/iembs.2005.1615914 pmid:17281684 fatcat:ovuspdqgqjbnbljdacpiscgfry

Decentralized adaptive robust control based on sliding mode and nonlinear compensator for the control of ankle movement using functional electrical stimulation of agonist–antagonist muscles

Hamid-Reza Kobravi, Abbas Erfanian
2009 Journal of Neural Engineering  
A decentralized control methodology is designed for the control of ankle dorsiflexion and plantarflexion in paraplegic subjects with electrical stimulation of tibialis anterior and calf muscles.  ...  The results indicate that the decentralized robust control provides excellent tracking control for different reference trajectories and can generate control signals to compensate the muscle fatigue and  ...  The chattering caused by the high-frequency switching control activity is highly undesirable and is not acceptable for the control of functional electrical stimulation and may excite unmodeled highfrequency  ... 
doi:10.1088/1741-2560/6/4/046007 pmid:19587395 fatcat:kp6rtelhc5dlvjhcvbaysrq5pm

An adaptive fuzzy sliding-mode controller design for walking control with functional electrical stimulation: A computer simulation study

Vahab Nekoukar, Abbas Erfanian
2011 International Journal of Control, Automation and Systems  
The proposed control strategy has been evaluated on a planar model of bipedal locomotion as a virtual patient.  ...  Based on the universal approximation theorem, fuzzy logic systems are employed to approximate the neuromusculoskeletal dynamics and an adaptive fuzzy controller is designed by using Lyapunov stability  ...  optimal control is much less efficient for online control of walking in paraplegic subjects.  ... 
doi:10.1007/s12555-011-0614-4 fatcat:zolbpqnfdjhrnm5564vjenmk4e

Neuromechanics-based Deep Reinforcement Learning of Neurostimulation Control in FES cycling [article]

Nat Wannawas, Mahendran Subramanian, A. Aldo Faisal
2021 arXiv   pre-print
Functional Electrical Stimulation (FES) can restore motion to a paralysed person's muscles.  ...  Our RL approach outperforms PID and Fuzzy Logic controllers in accuracy and performance.  ...  INTRODUCTION Functional Electrical Stimulation (FES) is a technique that induces involuntary contraction of muscles by stimulating the muscles using low-energy electrical signals.  ... 
arXiv:2103.03057v2 fatcat:vyzwxsqw5bgnjngvvxmaiaz3kq

Upper and lower body coordination in FES-assisted sit-to-stand transfers in paraplegic subjects - A case study

Jovana Jović, Christine Azevedo Coste, Philippe Fraisse, Charles Fattal
2011 Paladyn: Journal of Behavioral Robotics  
AbstractThe objective of the work presented is to improve functional electrical stimulation (FES) assisted sit-to-stand motion in complete paraplegic individuals by restoring coordination between the upper  ...  part of the subject's body, under voluntary control, and the lower part of the body, under FES control.  ...  Acknowledgement The authors would like to acknowledge the other members of our team and especially Robin Passama for his valuable help with stimulator programming as well as the clinical members, Patrick  ... 
doi:10.2478/s13230-012-0016-1 fatcat:xtwb67hlgfghjpqxgfwa3nexxq

Neural prostheses for walking restoration

Dejan Popovic, Mirjana Popovic, Strahinja Dosen
2008 Journal of Automatic Control  
We present a method to obtain muscle activity profiles from simulation of a customized model of the patient that can be used for the synthesis of rules for control.  ...  We review the state of the art of multi-channel electrical stimulation (ES) systems with surface electrodes for assistance in the standing and walking of paraplegics and hemiplegics.  ...  The stimulation unit delivers monophasic rectangular pulses at a frequency of f = 24 Hz, with pulse duration of T = 150 µs, and current control output that can be varied manually from 0 to 300 mA.  ... 
doi:10.2298/jac0802063p fatcat:vvah35micjawbgzn5eovlnjnmm

Model-based development of neuroprostheses for paraplegic patients

R. Robert
1999 Philosophical Transactions of the Royal Society of London. Biological Sciences  
for paraplegic patients.  ...  A so-called neuroprosthesis may be used to restore motor function in paraplegic patients on the basis of functional electrical stimulation.  ...  Second, models can be used to predict the behaviour of the real system, i.e. the paraplegic patient, when stimulating the paralysed muscles.  ... 
doi:10.1098/rstb.1999.0440 pmid:10382222 pmcid:PMC1692587 fatcat:nnhm5wp6jjchlefqsgncyfn36m

Rowing with FES

Rahman Davoodi
2008 Journal of Automatic Control  
An existing indoor rowing machine was modified for use by the paraplegic users and two types of FES controllers were developed to control the level of stimulation to the paralyzed leg muscles.  ...  Functional electrical stimulation (FES) assisted indoor rowing has been developed as a total body exercise option that combines the exercise of the innervated upper body with the exercise of the electrically  ...  Figure 6 : 6 Trajectories and electrical stimulation patterns for two typical cycles of FES rowing using high-level finite state controller with three different low-level control strategies: open-loop  ... 
doi:10.2298/jac0802077d fatcat:tm4w5rwqpjfqbozwzxw7lizqw4

Nonlinear Modeling of FES-Supported Standing-Up in Paraplegia for Selection of Feedback Sensors

R. Kamnik, J.Q. Shi, R. Murray-Smith, T. Bajd
2005 IEEE transactions on neural systems and rehabilitation engineering  
Index Terms-Artificial neural network (ANN), center of mass (COM), feedback, functional electrical stimulation (FES), Gaussian process (GP), mixture models, paraplegia, position tracking, standing-up.  ...  The standing-up behavior of eight paraplegic subjects was analyzed, measuring the motion kinematics and reaction forces to provide the data for modeling.  ...  Donaldson for his help during the final revision of the manuscript.  ... 
doi:10.1109/tnsre.2004.841879 pmid:15813405 fatcat:qvdpzzqbhfcypf5vu6mvtfxgwm

Control of functional electrical stimulation for restoration of motor function

Dejan Popovic
2017 Facta universitatis - series Electronics and Energetics  
The presented control has a multi-level structure where upper levels use finite state control and the lower level implements model based control.  ...  Functional electrical stimulation (FES) externally activates the muscles; thus, can restore several motor functions and reduce other health related problems.  ...  2 T T 2 T S C 1 2 S S C 1 T S We used the notations for the angles to match the anatomical definitions of flexion and extension at the hip and knee.  ... 
doi:10.2298/fuee1703295p fatcat:pe47vcwb7jfwve3nyb5e7fwse4

A REVIEW ON HUMAN-EXOSKELETON COORDINATION TOWARDS LOWER LIMB ROBOTIC EXOSKELETON SYSTEMS

Yue Ma, Xinyu Wu, Jingang Yi, Can Wang, Chunjie Chen
2019 International Journal of Robotics and Automation  
The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention.  ...  None, however, have focused on the coordination of control between humans and these kinds of robots.  ...  Kinesis [64] is a hybrid actuated exoskeleton robot with functional electrical stimulation (FES) that is used for walking rehabilitation.  ... 
doi:10.2316/j.2019.206-0193 fatcat:6qfm7qr2zzaonkkyfxrcs33fry

Functional Electrical Stimulation System for Drop Foot Correction Using a Dynamic NARX Neural Network

Simão Carvalho, Ana Correia, Joana Figueiredo, Jorge M. Martins, Cristina P. Santos
2021 Machines  
A closed-loop, fully wearable stimulation system was achieved using an ISTim stimulator and wearable inertial sensor for electrical stimulation and user's kinematic gait sensing, respectively.  ...  The majority of DF patients still retain excitable nerves and muscles which makes Functional Electrical Stimulation (FES) an adequate technique to restore lost mobility.  ...  [26] proposed a feedforward and feedback control strategy for tracking the knee angle trajectory in paraplegic patients, demonstrating the importance of using a single feedforward component (predefined  ... 
doi:10.3390/machines9110253 doaj:b149a50e32e740528021f64280788fee fatcat:wcsmi3psbjaqzkq3lk7wsydue4
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